Integrating Common Sense in Physically Embedded Intelligent Systems

Abstract

In this paper we describe an implemented framework that integrates knowledge representation and reasoning in a symbiotic system. In such systems a number of heterogeneous sensors pervasively embedded in the environment, mobile robots and humans co-exist and communicate. In this work, the integration is mediated through perceptual anchoring, which creates and maintains the correspondences between the symbol system and the perceptual data that refer to the same physical object. The overall framework is evaluated using ResearchCyc as the knowledge representation and reasoning system, within the context of a physical testbed, which consists of a small apartment-like home.